Fuzzy h-inf control of flexible joint robot

Authors:
Feng Wang;Xiaoping Liu
Affiliations:
Automation School, Beijing University of Posts and Telecommunications, Beijing, China;Automation School, Beijing University of Posts and Telecommunications, Beijing, China
Venue:
ICICA'11 Proceedings of the Second international conference on Information Computing and Applications
Year:
2011

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Abstract

In this paper, a fuzzy H-inf control approach for flexible joint robot is proposed. First, the Takagi and Sugeno(T-S) fuzzy model is applied to approximate the flexible joint robot. Next, a fuzzy controller is developed based on parallel distributed compensation principle(PDC), and H-inf performance is introduced to restrain the influence of the bounded external disturbance. The sufficient conditions for the stability of the flexible joint robot control system are proposed by using Lyapunov function combined with the decay speed and linear matrix inequality(LMI). Finally, the simulation example is given to demonstrate the performance and robust of the proposed approach.